Yaskawa FSP Amplifier - Manual (Page 10)

FSP Amplifier User’s Manual Table of Contents/Preface
5.7.4. Absolute Encoder Reception Sequence.................................................. 5-84
5.8. AB Encoders................................................................................................. 5-89
5.9. Defining User Units and Setup .................................................................... 5-91
5.9.1. Position Control....................................................................................... 5-91
5.9.1.1. Defining User Units for Motion Profiles ..................................5-91
5.9.1.2. Position Units............................................................................5-91
5.9.1.3. Speed Units ...............................................................................5-92
5.9.1.4. Acceleration Units ....................................................................5-93
5.9.1.5. Setting Default Motion Profile Parameters...............................5-95
5.9.1.6. Profile Speed (Pn2A2, Pn2A3) .................................................5-95
5.9.1.7. Profile Acceleration (Pn2A4, Pn2A5) ......................................5-95
5.9.1.8. Jerk Smoothing Time (Pn2A6) .................................................5-96
5.9.1.9. Quick Stop Deceleration (Pn2A8, Pn2A9) ...............................5-96
5.9.1.10. Motion End Window (Pn2C0) ..................................................5-96
5.9.2. Torque Control ........................................................................................ 5-97
5.9.2.1. Torque Slope (Pn2C1) ..............................................................5-97
5.9.3. Homing.................................................................................................... 5-97
5.9.4. Digital
I/O................................................................................................ 5-98
5.9.5. Auto Tuning ............................................................................................ 5-99
5.10. Auto Running a User Program................................................................... 5-100
6. Servo Adjustment..............................................................................................6-1
6.1. Selection of Control Mode............................................................................. 6-2
6.2. Analog Input or Contact Input Velocity Control........................................... 6-3
6.2.1. Principle and Block Diagram of the Velocity Control............................. 6-3
6.2.2. Parameters of the Velocity Control .......................................................... 6-4
6.2.3. Setting the Input Gain ............................................................................... 6-4
6.2.4. Adjusting Offset ........................................................................................ 6-5
6.2.5. Using the Soft Start Function.................................................................... 6-6
6.2.6. Load Inertia Setting................................................................................... 6-7
6.2.7. Adjusting Speed Loop Gain...................................................................... 6-8
6.2.8. Setting the Torque Reference Filter Time Constant ................................ 6-9
6.2.9. Notch Filter................................................................................................ 6-9
6.2.10. Gain Setting Reference Values............................................................... 6-10
6.3. NCT Position Control .................................................................................. 6-12
6.3.1. Load Inertia Setting................................................................................. 6-12
6.3.2. Position Control Block Diagram ............................................................ 6-14
6.3.3. NCT Gain Parameters............................................................................. 6-15
6.3.4. Additional Parameters Tuning................................................................ 6-16
6.3.5. Filters....................................................................................................... 6-16
6.3.6.
Flexible System Parameters.................................................................... 6-18
6.3.7. Gain Factor.............................................................................................. 6-18
6.3.8. Integral Clear Parameters........................................................................ 6-19
6.3.9. Tuning Procedure for Position Control Parameters ............................... 6-19
6.4. Analog Monitor ............................................................................................ 6-21
7. Using the Panel Operator.................................................................................7-1
7.1. Basic Operation .............................................................................................. 7-2
x